SystemSafetyModeTest Class Reference

Inheritance diagram for SystemSafetyModeTest:

Collaboration diagram for SystemSafetyModeTest:

Protected Member Functions
bool	activate ()
bool	configure ()
void	connect_safety_channel ()
void	expect_subnodes_in (uint8_t state)
void	listen_cmd_vel ()
std::optional< diagnostic_msgs::msg::DiagnosticStatus >	rt_diagnostic ()
void	run_rt_at_rate (std::chrono::milliseconds duration, bool real_time=false)
void	run_rt_cycles (int cycles, std::chrono::milliseconds gap)
std::optional< diagnostic_msgs::msg::DiagnosticStatus >	safety_diagnostic ()
void	spin_for (std::chrono::milliseconds duration)
void	start (const std::vector< std::string > &params)
rclcpp_lifecycle::LifecycleNode::SharedPtr	subnode (const std::string &name)
void	TearDown () override

Static Protected Member Functions
static easynav_interfaces::msg::SafetyStatus	channel_status (bool protective_stop, std::optional< double > speed_limit=std::nullopt)
static std::vector< std::string >	hanging_controller (double hang_time, double rt_freq=200.0, std::vector< std::string > extra={}, int fault_after=20)

Protected Attributes
rclcpp::Subscription< geometry_msgs::msg::Twist >::SharedPtr	cmd_vel_sub_
std::vector< double >	cmd_vels_
std::unique_ptr< rclcpp::executors::SingleThreadedExecutor >	exe_
rclcpp::Node::SharedPtr	listener_
std::optional< easynav_interfaces::msg::SafetyStatus >	status_
rclcpp::Node::SharedPtr	status_node_
rclcpp::Publisher< easynav_interfaces::msg::SafetyStatus >::SharedPtr	status_pub_
easynav::SystemNode::SharedPtr	system_node_

Member Function Documentation

activate()

bool activate ( )

protected

channel_status()

easynav_interfaces::msg::SafetyStatus channel_status ( bool protective_stop, std::optional< double > speed_limit = std::nullopt )

staticprotected

configure()

bool configure ( )

protected

connect_safety_channel()

void connect_safety_channel ( )

protected

expect_subnodes_in()

void expect_subnodes_in ( uint8_t state )

protected

hanging_controller()

std::vector< std::string > hanging_controller ( double hang_time, double rt_freq = 200.0, std::vector< std::string > extra = {}, int fault_after = 20 )

staticprotected

listen_cmd_vel()

void listen_cmd_vel ( )

protected

rt_diagnostic()

std::optional< diagnostic_msgs::msg::DiagnosticStatus > rt_diagnostic ( )

protected

run_rt_at_rate()

void run_rt_at_rate ( std::chrono::milliseconds duration, bool real_time = false )

protected

run_rt_cycles()

void run_rt_cycles ( int cycles, std::chrono::milliseconds gap )

protected

safety_diagnostic()

std::optional< diagnostic_msgs::msg::DiagnosticStatus > safety_diagnostic ( )

protected

spin_for()

void spin_for ( std::chrono::milliseconds duration )

protected

start()

void start ( const std::vector< std::string > & params )

protected

subnode()

rclcpp_lifecycle::LifecycleNode::SharedPtr subnode ( const std::string & name )

protected

TearDown()

void TearDown ( )

overrideprotected

Member Data Documentation

cmd_vel_sub_

rclcpp::Subscription<geometry_msgs::msg::Twist>::SharedPtr cmd_vel_sub_

protected

cmd_vels_

std::vector<double> cmd_vels_

protected

exe_

std::unique_ptr<rclcpp::executors::SingleThreadedExecutor> exe_

protected

listener_

rclcpp::Node::SharedPtr listener_

protected

status_

std::optional<easynav_interfaces::msg::SafetyStatus> status_

protected

status_node_

rclcpp::Node::SharedPtr status_node_

protected

status_pub_

rclcpp::Publisher<easynav_interfaces::msg::SafetyStatus>::SharedPtr status_pub_

protected

system_node_

easynav::SystemNode::SharedPtr system_node_

protected

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The documentation for this class was generated from the following file:

• easynav_system/tests/system_safety_mode_tests.cpp